Adaptive robust tracking of nonlinear systems and with an application to a robotic manipulator

Teh Lu Liao, Li Chen Fu, Chen Fa Hsu

Research output: Contribution to journalConference articlepeer-review

Abstract

Based on the input-output linearization technique and the variable structure control strategy, an adaptive control law is developed so that no prior knowledge of the bounds on the plant uncertainties is required. It is shown that the outputs of the closed-loop system asymptotically track the given output trajectories despite the uncertainties, and that the tracking errors can be made arbitrarily small. The scheme is then applied to the control of a two-degree-of-freedom robotic manipulator with unknown payload. Simulation results indicate that the controller is robust with respect to uncertainties.

Original languageEnglish
Pages (from-to)3130-3131
Number of pages2
JournalProceedings of the IEEE Conference on Decision and Control
Volume6
Publication statusPublished - 1990 Dec 1
EventProceedings of the 29th IEEE Conference on Decision and Control Part 6 (of 6) - Honolulu, HI, USA
Duration: 1990 Dec 51990 Dec 7

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

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